diff --git a/1.0.0.tar.gz b/1.0.0.tar.gz new file mode 100644 index 0000000000000000000000000000000000000000..6aebc2f244b847d5396478317263e513f3b38177 Binary files /dev/null and b/1.0.0.tar.gz differ diff --git a/README.en.md b/README.en.md index 3e835b1e407385eb5460460936a16e9cf21f1503..169c5625079b2454b045c16f887224fbd5026b93 100644 --- a/README.en.md +++ b/README.en.md @@ -1,22 +1,32 @@ # cartographer_ros #### Description -This project provides Cartographer's ROS integration. +Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations. + +![输入图片说明](https://images.gitee.com/uploads/images/2020/1115/102934_7759d85d_1226697.png "屏幕截图_600.png") + +video demo run in openeuler see: https://www.bilibili.com/video/BV1Rf4y1B73u #### Software Architecture Software architecture description +Cartographer can be seen as two separate, but related subsystems. The first one is local SLAM (sometimes also called frontend or local trajectory builder). Its job is to build a succession of submaps. Each submap is meant to be locally consistent but we accept that local SLAM drifts over time + +W. Hess, D. Kohler, H. Rapp, and D. Andor, Real-Time Loop Closure in 2D LIDAR SLAM, in Robotics and Automation (ICRA), 2016 IEEE International Conference on. IEEE, 2016. pp. 1271–1278. + #### Installation -1. xxxx -2. xxxx -3. xxxx +1. Dowload RPM + +wget http://121.36.3.168:82/home:/davidhan:/branches:/openEuler:/Mainline/standard_aarch64/aarch64/cartographer_ros-1.0.0-0.oe1.aarch64.rpm + +2. Install RPM + +sudo rpm -ivh cartographer_ros-1.0.0-0.oe1.aarch64.rpm #### Instructions -1. xxxx -2. xxxx -3. xxxx +Exit the cartographer_ros file under the /opt/ros/melodic/devel_isolated/ directory , Prove that the software installation is successful #### Contribution diff --git a/README.md b/README.md index bb883239ffa772f6bbd0bc228dd461988c3125aa..55c1bedfbff5afc13c462cb4d4f1ebf3a2e0a29f 100644 --- a/README.md +++ b/README.md @@ -1,23 +1,32 @@ # cartographer_ros #### 介绍 -This project provides Cartographer's ROS integration. +cartographer是一个可跨多个平台和传感器配置在2D和3D中提供实时同时定位和地图绘制（SLAM）。该项目提供了ROS集成 +![输入图片说明](https://images.gitee.com/uploads/images/2020/1115/103111_d513f3f4_1226697.png "屏幕截图_600.png") + +在opeuler上运行cartographer的demo参见:https://www.bilibili.com/video/BV1Rf4y1B73u #### 软件架构 软件架构说明 +cartographer可以看作是两个独立但相关的子系统。第一个是本地SLAM（有时也称为前端或本地轨迹构建器）。它的工作是建立一系列子图。每个子图都应该在本地保持一致，避免local SLAM随时间漂移 + +参考论文: +W. Hess, D. Kohler, H. Rapp, and D. Andor, Real-Time Loop Closure in 2D LIDAR SLAM, in Robotics and Automation (ICRA), 2016 IEEE International Conference on. IEEE, 2016. pp. 1271–1278. #### 安装教程 -1. xxxx -2. xxxx -3. xxxx +1. 下载rpm包 + +wget http://121.36.3.168:82/home:/davidhan:/branches:/openEuler:/Mainline/standard_aarch64/aarch64/cartographer_ros-1.0.0-0.oe1.aarch64.rpm + +2. 安装rpm包 + +sudo rpm -ivh cartographer_ros-1.0.0-0.oe1.aarch64.rpm #### 使用说明 -1. xxxx -2. xxxx -3. xxxx +安装完成以后，在/opt/ros/melodic/devel_isolated/目录下有cartographer_ros/文件夹证明安装成功 #### 参与贡献 diff --git a/cartographer_ros.spec b/cartographer_ros.spec new file mode 100644 index 0000000000000000000000000000000000000000..2f9b722c080cdbc8bbbb3b4b514c67de30568b2e --- /dev/null +++ b/cartographer_ros.spec @@ -0,0 +1,317 @@ +Name: cartographer_ros +Version: 1.0.0 +Release: 0 +Summary: This is ROS melodic cartographer Package +License: GPL +URL: https://github.com/ros-gbp/cartographer-release/archive/release/melodic/cartographer/ +Source0: https://github.com/ros-gbp/cartographer-release/archive/release/melodic/cartographer/1.0.0.tar.gz +BuildRequires: gcc-c++ +BuildRequires: cmake +BuildRequires: lz4-devel +BuildRequires: bzip2-devel +BuildRequires: python-devel +BuildRequires: python-setuptools +#Requires: python-empy +BuildRequires: openssl-devel +BuildRequires: curl-devel +BuildRequires: curl +#BuildRequires: gcc-gfortran +#BuildRequires: openblas-devel +#BuildRequires: sqlite-devel +#BuildRequires: fftw-devel +BuildRequires: boost-devel +BuildRequires: uuid-devel +BuildRequires: uuid +BuildRequires: libuuid-devel +#BuildRequires: uuid-devel +#BuildRequires: python3-devel +#BuildRequires: boost-python3-devel + +BuildRequires: gmock-devel +BuildRequires: suitesparse-devel +BuildRequires: lua-devel +BuildRequires: protobuf-devel +BuildRequires: cairo-devel +BuildRequires: gflags-devel +BuildRequires: freeglut-devel +BuildRequires: libXt-devel +BuildRequires: tinyxml-devel +BuildRequires: libX11-devel +BuildRequires: libXrandr-devel +BuildRequires: libXaw-devel +BuildRequires: assimp-devel +BuildRequires: qt5-qtdeclarative-devel +BuildRequires: yaml-cpp-devel +BuildRequires: libatomic +#BuildRequires: python2-qt5-devel +BuildRequires: lz4-devel +BuildRequires: sphinx + +%description +This is ROS melodic ros_comm Package. + +%prep +%setup +#cd catkin-0.7.26/ + + + + +#%build + +#pwd +#mkdir build/ +#cd build/ && cmake .. + + + +%install +pwd + +#mkdir -p build/ +#cd build/ +#cmake .. +#cd .. + +cd src/ +cd 3rdparty/ + +cd empy-3.3.4/ +python setup.py install --user +cd .. + +cd six-1.15.0/ +python setup.py install --user +cd .. + +cd setuptools_scm-4.1.2/ +python setup.py install --user +cd .. + +cd python-dateutil-2.8.1/ +python setup.py install --user +cd .. + +cd pyparsing-2.4.7/ +python setup.py install --user +cd .. + +cd docutils-0.16/ +python setup.py install --user +cd .. + +cd catkin_pkg-0.4.22/ +python setup.py install --user +cd .. + +#for std_msgs +cd PyYAML-5.3.1/ +python setup.py install --user +cd .. + +cd distro-1.5.0/ +python setup.py install --user +cd .. + +cd rospkg-1.2.8/ +python setup.py install --user +cd .. + + + +cd console_bridge/ +mkdir build/ +cd build/ +cmake .. +make +make install +cd .. +cd .. + +cd poco/ +mkdir cmake-build/ +mkdir cmake-release/ +cd cmake-build/ +cmake .. +make install +cd .. +cd .. + + +cd tinyxml2/ +mkdir build +cd build +cmake .. +make install +cd .. +cd .. + + +cd urdfdom_headers/ +mkdir build +cd build +cmake .. +make install +cd .. +cd .. + +cd eigen-3.3.7/ +mkdir build +cd build +cmake .. +make install +cd .. +cd .. + +cd orocos_kdl/ +mkdir build +cd build +cmake .. +make install +cp -r ../../eigen-3.3.7/build/eigen/include/eigen3/* orocos_kdl/include/ +cd .. +cd .. + + +cd abseil-cpp/ +mkdir build +mkdir install +cd build +cmake .. +make install + +cd .. +cd install +ls -FR + +cd .. +cd .. + + + +cd glog/ +mkdir build +mkdir install +cd build +cmake .. +make install +cd .. +cd .. + + + +cd ceres-solver-1.13.0/ +mkdir build +mkdir install +cd build +cmake .. +make install + +cd .. +cd install +ls -FR + +cd .. +cd .. + + +cd ticpp/ +mkdir build +cd build +cmake .. +make -j8 +cd .. +cd .. + + + +cd urdfdom/ +mkdir build +mkdir install +cd build +cmake .. +make install +cd .. +cd .. + + +cd flann-1.9.1/ +mkdir build +mkdir install +cd build +cmake .. +make install +cd .. +cd .. + + +#cd VTK/ +#mkdir build +#mkdir install +#cp -r ExternalData/ build/ +#cd build +#cmake .. +#make install +#cd .. +#cd .. + + + +cd pcl/ +mkdir build +mkdir install +cd build +cmake .. +make install + +cd .. +cd .. + + +cd ogre/ +#mkdir build +mkdir install +cd build +cmake .. +make install +cd .. +cd .. + + + + + + + + + + +# 3rdparty +cd .. +cd .. + + + +#compile +./src/catkin/bin/catkin_make_isolated + +cat /home/abuild/rpmbuild/BUILD/cartographer_ros-1.0.0/devel_isolated/cartographer/share/cartographer/cartographer-config.cmake + + +#install +mkdir -p %{buildroot}/opt/ros/melodic/ +cp -r devel_isolated/* %{buildroot}/opt/ros/melodic/ + +echo %{buildroot} + + +%files +#%defattr(-,root,root) +#/opt/ros/melodic/* +/opt/ros/melodic/* +#/usr/lib/share/catkin/cmake/* + +%changelog +* Thu May 28 2020 openEuler Buildteam - 19.4-1 +- Package init +